无人机“蜂群”的蜂拥涌现行为识别与抑制机理  

A Mechanism for Identifying and Suppressing the Emergent Flocking Behaviors of UAV Swarms

作　　者：柳强 何明[1,3] 刘锦涛 牛彦杰 黄倩 LIU Qiang;HE Ming;LIU Jin-tao;NIU Yan-jie;HUANG Qian(College of Command and Control Engineering,Army Engineering University of PLA,Jiangsu,Nanjing 210007,China;Department of Combat laboratory,Naval Command College,Jiangsu,Nanjing 210000,China;Institute of Network Information,Academy of Systems Engineering,Academy of Military Sciences,Beijing 100071,China;College of Computer and Information,Hohai University,Jiangsu,Nanjing 211100,China)

机构地区：[1]陆军工程大学指挥控制工程学院,江苏南京210007 [2]海军指挥学院作战实验室,江苏南京210000 [3]军事科学院系统工程研究院网络信息研究所,北京100071 [4]河海大学计算机与信息学院,江苏南京211100

出　　处：《电子学报》2019年第2期374-381,共8页Acta Electronica Sinica

基　　金：江苏省自然科学基金(No.BK20150721;No.BK20161469);中国博士后基金(No.2015M582786;No.2016T91017);江苏省重点研发计划(No.BE2015728;No.BE2016904;No.BE2017616);江苏省科技基础设施建设计划(No.BM2014391);国家重点研发计划(No.2016YFC0800606;No.2016YFC0800310);中央高校基本科研业务费项(No.2017B42214)

摘　　要：为了抵消无人机"蜂群"所具有的非对称作战优势,从反控制其协同飞行的角度出发,将"蜂群"描述为具有涌现性特征的复杂系统,剖析无人机"蜂群"蜂拥涌现行为的产生机理,首次建立基于f-散度的"蜂群"涌现性度量模型.根据蜂拥控制算法所遵循的启发式规则提出"蜂群"蜂拥涌现行为的抑制机理,首次建立了干扰条件下蜂拥控制的失效判别模型.通过仿真实验,分析和讨论了干扰强度、干扰时机对抑制"蜂群"蜂拥涌现行为的影响.In order to neutralize the advantage of asymmetric operations owned by UAV swarms,UAV swarms were investigated from the perspective of negativing the coordinated flight control for them.Firstly,UAV swarms are described as a complex system with the emergence.Secondly,based the mechanism for flocking behaviors generated from UAV swarms,f -divergence based quantitative model was established to measure the emergence of them.It was firstly proposed that the suppression principle of swarms’ emergent behaviors in term of three heuristic rules followed by general flocking control algorithms.Moreover,it was firstly constructed that the failure judgment model of flocking control for swarms under man-made interference.Finally,simulation experiments showed that the interference intensity and opportunity played an effect on suppressing emergent behaviors of swarms.

关 键 词：无人机“蜂群” 涌现行为 蜂拥控制 f-散度 

分 类 号：V279[航空宇航科学与技术—飞行器设计]